SCOPE: Evolving Symbolic World for Planning in Open-Ended Environments

Yundaichuan Zhan; Minghe Gao; Zhongqi Yue; Wendong Bu; Wenqiao Zhang; Guoming Wang; Jisheng Dang; Juncheng Li; Siliang Tang; Yueting Zhuang

arXiv · 2606.22488

SCOPE: Evolving Symbolic World for Planning in Open-Ended Environments

Yundaichuan Zhan·Minghe Gao·Zhongqi Yue·Wendong Bu·Wenqiao Zhang·Guoming Wang·Jisheng Dang·Juncheng Li·Siliang Tang·Yueting Zhuang

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Abstract

Recent works have explored integrating Vision-Language Models (VLMs) with classical planners that rely on symbolic representations of planning problems to generate long-horizon plans for complex embodied tasks. However, in open-ended environments, these symbolic representations obtained from perception are often incomplete, leading to suboptimal performance. To address this, we introduce SCOPE, a self-adaptive symbolic planning framework that supports refining action plans and evolving the symbolic world, i.e., the symbolic representations of open-ended environments. SCOPE comprises two synergistic modules: a Symbolic Execution Simulator (SESim) that conducts symbolic validation and real execution of action plans, leveraging the feedback to refine the plans and evolve the symbolic world; and a Self-Adaptive Symbolic Memory (SASMem) that further distills feedback into evolving symbolic knowledge to enhance long-horizon planning and modeling of the symbolic world. Experiments in open-ended environments show that SCOPE significantly improves the completeness of the symbolic world, the success rate of plans under environment perturbations, and cross-task grounding and adaptability across diverse embodied scenarios.

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Yundaichuan Zhan, Minghe Gao, Zhongqi Yue, Wendong Bu, Wenqiao Zhang, Guoming Wang, Jisheng Dang, Juncheng Li, Siliang Tang, Yueting Zhuang. 2026-06-21. SCOPE: Evolving Symbolic World for Planning in Open-Ended Environments. https://arxiv.org/abs/2606.22488

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